Control apparatus for four wheel drive vehicle

ABSTRACT

An ECU of a four wheel drive vehicle controls a transmission torque of a driving force transmission apparatus provided between a rear differential and a left rear wheel. The ECU includes a first computation unit that computes a command torque to be transmitted to the left rear wheel by the driving force transmission apparatus, based on a traveling state of the four wheel drive vehicle; and a second computation unit that corrects the command torque computed by the first computation unit, if a difference between rotation speeds of a pair of side gears of the rear differential is larger than or equal to a predetermined value.

INCORPORATION BY REFERENCE

The disclosure of Japanese Patent Application No. 2012-274787 filed onDec. 17, 2012 including the specification, drawings and abstract, isincorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates to a control apparatus for a four wheel drivevehicle.

2. Description of the Related Art

Four wheel drive vehicles, in which a driving force from a drive source(engine) is always transmitted to a pair of right and left main drivingwheels (front wheels), and is transmitted to a pair of right and leftauxiliary driving wheels (rear wheels) via a plurality of clutches, havebeen known (refer to Japanese Patent Application Publication No.2010-254058 (JP 2010-254058 A) and Japanese Patent ApplicationPublication No. 2012-61923 (JP 2012-61923 A)).

In each of the four wheel drive vehicles described in JP 2010-254058 Aand JP 2012-61923 A, a dog clutch is disposed between the drive sourceand a propeller shaft that transmits the driving force in thelongitudinal direction of the vehicle. Further, a multiple disc clutchis disposed between an auxiliary driving wheel-side differentialapparatus to which the driving force is transmitted by the propellershaft and one of the auxiliary driving wheels. When the vehicle travelsin a two wheel drive mode in which the driving force is transmitted onlyto the main driving wheels, the transmission of the driving force viathe dog clutch and the multiple disc clutch is interrupted, andtherefore, rotation of the propeller shaft and rotation of adifferential case of the auxiliary driving wheel-side differentialapparatus are restrained to reduce the travel resistance.

When the vehicle travels in a four wheel drive mode in which the drivingforce of the drive source is transmitted to the main driving wheels andthe auxiliary driving wheels, the dog clutch is engaged, and therefore,a driving force in accordance with the transmission torque of themultiple disc clutch is transmitted to the auxiliary driving wheel side.The transmission torque of the multiple disc clutch is controlled by anElectronic Control Unit (ECU). The ECU computes a driving force thatneeds to be transmitted to the auxiliary driving wheel side, on thebasis of signals from various sensors that detect the traveling state ofthe vehicle, and then controls the transmission torque of the multipledisc clutch according to a result of the computation.

The inventor of the present application measured the driving forcetransmitted to the auxiliary driving wheel side in a four wheel drivevehicle configured as described above, and found that the driving forcetransmitted to the auxiliary driving wheel side when the vehicle turnsleft is different from that when the vehicle turns right, even if thetransmission torque of the multiple disc clutch is controlled in thesame manner. The inventor of the present application earnestlyinvestigated the cause of this phenomenon, and obtained a finding thatthe difference in the driving force transmitted to the auxiliary drivingwheels depending on the direction of turn of the vehicle is related tothe Torque Bias Ratio (TBR) of the differential apparatus at theauxiliary driving wheel side, and made the invention of the presentapplication.

SUMMARY OF THE INVENTION

An object of the invention is to provide a control apparatus for a fourwheel drive vehicle, which can increase the accuracy of a driving forcetransmitted to an auxiliary driving wheel side in a four wheel drivevehicle in which a driving force transmission apparatus is disposedbetween differential apparatus and one of a pair of right and leftauxiliary driving wheels, and a transmission torque of the driving forcetransmission apparatus is adjustable.

According to an aspect of the invention, there is provided a controlapparatus for a four wheel drive vehicle, the control apparatus beingprovided in a four wheel drive vehicle including a pair of right andleft main driving wheels and a pair of right and left auxiliary drivingwheels, the control apparatus controlling a transmission torque of adriving force transmission apparatus provided between one of a pair ofoutput members of a differential apparatus at an auxiliary driving wheelside and one of the right and left auxiliary driving wheels, and thecontrol apparatus including: a first computation unit that computes atransmission torque to be transmitted to the one of the auxiliarydriving wheels by the driving force transmission apparatus, based on atraveling state of the four wheel drive vehicle; and a secondcomputation unit that corrects the transmission torque computed by thefirst computation unit, if a difference between rotation speeds of theoutput members of the differential apparatus is larger than or equal toa predetermined value.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and further features and advantages of the invention willbecome apparent from the following description of example embodimentswith reference to the accompanying drawings, wherein like numerals areused to represent like elements and wherein:

FIG. 1 is a schematic diagram showing a configuration example of a fourwheel drive vehicle according to an embodiment of the invention;

FIG. 2 is a sectional view showing a configuration example of a drivingforce transmission apparatus and portions near the driving forcetransmission apparatus;

FIG. 3A is a sectional view showing a configuration example of a dogclutch and portions near the dog clutch, and FIG. 3B is an explanatorydiagram schematically showing meshing portions of the dog clutch in adisengaged state;

FIGS. 4A and 4B are examples of maps to which a control portion referswhen the control portion, as a first computation unit, computes atransmission torque of the driving force transmission apparatus;

FIG. 5 is a graph showing a relation between a difference betweenrotation speeds of right and left rear wheels, and a driving force ratiobetween a driving force transmitted to the right rear wheel and adriving force transmitted to the left rear wheel; and

FIG. 6 is a flowchart showing an example of a process executed by thecontrol portion.

DETAILED DESCRIPTION OF EMBODIMENTS

FIG. 1 is a schematic diagram showing a configuration example of a fourwheel drive vehicle according to an embodiment of the invention. Thisfour wheel drive vehicle 100 includes an engine 102, a transmission 103,a pair of right and left front wheels 104R, 104L, a pair of right andleft rear wheels 105R, 105L, a first driving force transmission system106 and a second driving force transmission system 107. The engine 102is a drive source that outputs a driving force in accordance with theamount of depression of an accelerator pedal 101 that is operated by adriver. The transmission 103 changes the speed of an output of theengine 102. The first driving force transmission system 106 transmitsthe driving force of the engine 102 to the front wheels 104R, 104L. Thesecond driving force transmission system 107 transmits the driving forceof the engine 102 to the rear wheels 105R, 105L. The front wheels 104R,104L are main driving wheels to which the driving force of the engine102 is always transmitted when the vehicle 100 is traveling. The rearwheels 105R, 105L are auxiliary driving wheels to which a necessarytorque is transmitted according to the traveling state of the vehicle100.

The front wheels 104R, 104L are provided with wheel speed sensors 902,901, and the rear wheels 105R, 105L are provided with wheel speedsensors 904, 903. The wheel speed sensors 902 to 904 are provided todetect rotation speeds of the respective wheels. Furthermore, anaccelerator operation amount sensor 900 is provided for the acceleratorpedal 101.

The first driving force transmission system 106 includes a frontdifferential 120 and front wheel-side drive shafts 114R, 114L. The frontwheel-side drive shafts 114R, 114L transmit an output torque of thefront differential 120 to the right and left front wheels 104R, 104L.The second driving force transmission system 107 includes a dog clutch130, a propeller shaft 140, a rear differential 150, a driving forcetransmission apparatus 160, and rear wheel-side drive shafts 115R, 115L.

The front differential 120 includes a differential case 20, a pinionshaft 21, a pair of pinion gears 22, 22, and a pair of side gears 23R,23L. The differential case 20 rotates due to a torque output from thetransmission 103. The pinion shaft 21 is retained by the differentialcase 20. The pinion gears 22, 22 are constituted by bevel gears that arerotatably supported on the pinion shaft 21. The side gears 23R, 23L areconstituted by bevel gears that mesh with the pinion gears 22, 22 andwhose gear axes are orthogonal to those of the pinion gears 22, 22.Further, the front differential 120 is configured so that the torque isdistributed from the right-side side gear 23R to the right front wheel104R via the right-side drive shaft 114R, and the torque is distributedfrom the left-side side gear 23L to the left front wheel 104L via theleft-side drive shaft 114L.

The dog clutch 130 has a first tooth portion 31, a second tooth portion32 and a tubular sleeve 33. The first tooth portion 31 is fixed to anouter peripheral portion of the differential case 20 of the frontdifferential 120 so that the first tooth portion 31 is not rotatablerelative to the differential case 20. The second tooth portion 32 isfixed to a ring gear 41 a described later so that the second toothportion 32 is not rotatable relative the ring gear 41 a. The sleeve 33is movable forward and backward in the direction of a rotation axis ofthe differential case 20. The dog clutch 130 is configured so that thefirst tooth portion 31 and the second tooth portion 32 are connectedwith each other so that the torque can be transmitted between the firsttooth portion 31 and the second tooth portion 32 when the tubular sleeve33 is moved in one direction, and the first tooth portion 31 and thesecond tooth portion 32 are disconnected from each other when the sleeve33 is moved in the other direction. The detailed configuration of thedog clutch 130 will be described later.

At the front wheel side of the propeller shaft 140, there is provided afirst gear mechanism 41 that includes a ring gear 41 a and a pinion gear41 b. The ring gear 41 a is constituted by a bevel gear that rotatestogether with the second tooth portion 32 of the dog clutch 130. Thepinion gear 41 b is constituted by a bevel gear that meshes with thering gear 41 a and that is fixed to an end of the propeller shaft 140.

Furthermore, at the rear wheel side of the propeller shaft 140, there isprovided a second gear mechanism 42 that includes a ring gear 42 a and apinion gear 42 b. The ring gear 42 a is constituted by a bevel gear thatis fixed to a differential case 50 of the rear differential 150. Thepinion gear 42 b is constituted by a bevel gear that meshes with thering gear 42 a and that is fixed to the other end of the propeller shaft140.

The rear differential 150 includes the differential case 50, a pinionshaft 51, a pair of pinion gears 52, 52, and a pair of side gears 53R,53L. The differential case 50 rotates due to the torque transmitted viathe propeller shaft 140. The pinion shaft 51 is retained by thedifferential case 50. The pinion gears 52, 52 are constituted by bevelgears that are rotatably supported on the pinion shaft 51. The sidegears 53R, 53L are a pair of output members constituted by bevel gearswhich mesh with the pinion gears 52, 52 and whose gear axes areorthogonal to those of the pinion gears 52, 52. An intermediate shaft 54is disposed between the left-side side gear 53L and the driving forcetransmission apparatus 160. The left-side side gear 53L is connected tothe intermediate shaft 54 so that the left-side side gear 53L is notrotatable relative to the intermediate shaft 54. Further, the right-sideside gear 53R is connected to the right-side drive shaft 115R so as torotate at the same speed as the speed of the right-side drive shaft115R. Specifically, the left-side side gear 53L outputs the drivingforce to the left rear wheel 105L, and the right-side side gear 53Routputs the driving force to the right rear wheel 105R.

The driving force transmission apparatus 160 includes a multiple discclutch 7 and a pressing mechanism 8. The pressing mechanism 8 pressesthe multiple disc clutch 7 in such a manner that the pressing force isvariable. The driving force transmission apparatus 160 is configured sothat a torque in accordance with the pressing force applied to themultiple disc clutch 7 by the pressing mechanism 8 is transmitted fromthe intermediate shaft 54 to the left-side drive shaft 115L-side. Thedetailed configuration of the driving force transmission apparatus 160will be described later.

The four wheel drive vehicle 100 is also provided with an ElectronicControl Unit (ECU) 9 as a control apparatus that controls the seconddriving force transmission system 107. The ECU is capable of obtaininginformation about the traveling state of the vehicle, such as theaccelerator operation amount detected by the accelerator operationamount sensor 900, and the rotation speeds of the front wheels 104R,104L detected by the wheel speed sensors 902, 901 and the rotationspeeds of the rear wheels 105R, 105L detected by the wheel speed sensor904, 903, for example, via a vehicle-mounted communication network(Controller Area Network (CAN)). Further, a drive circuit 93 thatoutputs electric current for driving the pressing mechanism 8 of thedriving force transmission apparatus 160 is connected to the ECU 9.

The ECU 9 includes a storage portion 91 and a control portion 92. Thestorage portion 91 includes storage elements such as a Read-Only Memory(ROM) and a Random Access Memory (RAM). The control portion 92 includesa Central Processing Unit (CPU) that operates according to a controlprogram 910 stored in the storage portion 91. The control portion 92operates according to the control program 910. Therefore, the controlportion 92 functions as a first computation unit 921 that computes atransmission torque of the driving force transmission apparatus 160 onthe basis of the traveling state of the four wheel drive vehicle 100, asecond computation unit 922 that corrects the transmission torquecomputed by the first computation unit 921, on the basis of the rotationspeed difference between the rear wheels 105R, 105L, and a control unit923 that controls the driving force transmission apparatus 160 accordingto the transmission torque corrected by the second computation unit 922.

The drive circuit 93 receives a control signal from the ECU 9 (thecontrol unit 923), and outputs an electric current to an electromagneticcoil (described later) that constitutes the pressing mechanism 8. Thedrive circuit 93 includes a current output circuit that is operated, forexample, under a Pulse Width Modulation (PWM) control. The drive circuit93 is capable of continuously adjusting the amount of electric currentsupplied to the pressing mechanism 8, to a value in accordance with thecontrol signal from the ECU 9.

With the foregoing configuration, in the first driving forcetransmission system 106, the driving force is transmitted from the sidegears 23R, 23L of the front differential 120 to the front wheels 104R,104L via the right and left drive shafts 114R, 114L. Further, in thesecond driving force transmission system 107, the driving force istransmitted from the differential case 20 of the front differential 120to the rear differential 150 via the dog clutch 130, the first gearmechanism 41, the propeller shaft 140 and the second gear mechanism 42,and then the driving force is transmitted to the left rear wheel 105Lvia the driving force transmission apparatus 160 and the left-side driveshaft 115L, and to the right rear wheel 105R via the right-side driveshaft 115R.

FIG. 2 is a sectional view showing a configuration example of thedriving force transmission apparatus 160 and portions near the drivingforce transmission apparatus 160. The driving force transmissionapparatus 160 is housed, together with the rear differential 150, in adifferential carrier 151. The driving force transmission apparatus 160includes a bottomed cylindrical outer housing 60 that is connected tothe intermediate shaft 54 so that the outer housing 60 is not rotatablerelative to the intermediate shaft 54. The driving force transmissionapparatus 160 includes the multiple disc clutch 7 and the pressingmechanism 8 arranged within the outer housing 60.

An outer peripheral surface of a bottom portion of the outer housing 60is connected to a flange 54 a of the intermediate shaft 54 so that theouter housing 60 rotates together with the intermediate shaft 54. Aspline portion 60 a is formed on an inner peripheral surface of acylindrical portion of the outer housing 60. The spline portion 60 aincludes a plurality of spline teeth extending in the axial direction.An opening end portion of the outer housing 60 is closed by an annularrear housing 61.

The rear housing 61 includes a first element 61 a, a ring-shaped secondelement 61 b, and a third element 61 c. The first element 61 a isconstituted by a magnetic material that is fixed to the opening portionof the outer housing 60 so that the first element 61 a is not rotatablerelative to the outer housing 60, by fixing means such as screwing orwelding. The second element 61 b is constituted by a non-magneticmaterial that is fixed to an inside of the first element 61 a. The thirdelement 61 c is constituted by a magnetic material that is fixed to aninside of the second element 61 b.

At an inner peripheral portion of the outer housing 60, there isdisposed a hollow cylindrical inner shaft 64 that is supported coaxiallywith the outer housing 60 so that the inner shaft 64 is rotatablerelative to the outer housing 60. On an outer peripheral surface of theinner shaft 64, a spline portion 64 a is formed at a region that facesthe spline portion 60 a of the outer housing 60. The spline portion 64 aincludes a plurality of spline teeth extending in the axial direction.Further, a shaft-shaped member 56 is spline-fitted to an innerperipheral surface of the inner shaft 64 so that the shaft-shaped member56 is not rotatable relative to the inner shaft 64. The shaft-shapedmember 56 includes an outer ring 56 a of a constant velocity joint, towhich an end of the left-side drive shaft 115L (shown in FIG. 1) isoscillatably connected.

The multiple disc clutch 7 has a configuration in which a plurality ofannular outer clutch plates 71 and a plurality of annular inner clutchplates 72 are alternately disposed in the axial direction. At an outerperipheral edge of each outer clutch plate 71, a plurality ofprotrusions that engages with the spline portion 60 a of the outerhousing 60 is formed. Further, at an inner peripheral edge of each innerclutch plate 72, a plurality of protrusions that engages with the splineportion 64 a of the inner shaft 64 is formed. With this configuration,the outer clutch plates 71 are restricted from rotating relative to theouter housing 60, and are movable in the axial direction, and the innerclutch plates 72 are restricted from rotating relative to the innershaft 64, and are movable in the axial direction.

The pressing mechanism 8 is disposed adjacent to the multiple discclutch 7 in the directions of the axis. The pressing mechanism 8includes an electromagnetic coil 80, a yoke 81, an annular first cammember 82, an annular second cam member 84 and a plurality of sphericalcam followers 83. The yoke 81 is constituted by a magnetic material thatsupports the electromagnetic coil 80. The second cam member 84 isdisposed so as to face the first cam member 82. The cam followers 83 areinterposed between the first cam member 82 and the second cam member 84.

The electromagnetic coil 80 is disposed such that the rear housing 61 isinterposed between the electromagnetic coil 80 and the first cam member82. The electromagnetic coil 80 is configured so as to attract the firstcam member 82 toward the rear housing 61 by a magnetic force generatedby energization of the electromagnetic coil 80. The electromagnetic coil80 is supplied with an excitation current from the drive circuit 93 ofthe ECU 9.

The second cam member 84 is disposed so that a side surface of thesecond cam member 84 in the axial direction faces one inner clutch plate72 that is disposed closest to the pressing mechanism 8 among the innerclutch plates 72 of the multiple disc clutch 7. At a portion of an innerperipheral surface of the second cam member 84, a plurality ofprotrusions that engages with the spline portion 64 a of the inner shaft64 is provided. The second cam member 84 is restricted from rotatingrelative to the inner shaft 64, and is movable in the axial direction.

Cam surfaces are respectively formed in opposed surfaces of the firstcam member 82 and the second cam member 84. The cam surfaces areconstituted by inclined surfaces whose depth in the axial directionchanges in the circumferential direction. The cam followers 83 aredisposed so as to roll along the cam surfaces of the first and secondcam members 82, 84. Further, the first cam member 82 and the second cammember 84 are urged by a coned disc spring 85 and a coned disc spring86, respectively, so as to approach each other.

With the foregoing configuration, when the first cam member 82frictionally slides with respect to the rear housing 61 due to themagnetic force of the electromagnetic coil 80, the first cam member 82receives a rotation force from the rear housing 61. Due to this rotationforce, the first cam member 82 and the second cam member 84 rotaterelative to each other. Due to this relative rotation, the cam followers(rolling elements) 83 roll on the cam surfaces of the first cam member82 and the second cam member 84, and thus, thrust in the axial directionis generated. The second cam member 84, which receives this thrust,presses the multiple disc clutch 7.

Since the rotation force that the first cam member 82 receives from therear housing 61 changes according to the strength of the magnetic forceof the electromagnetic coil 80, the pressing force for pressing themultiple disc clutch 7 can be adjusted by controlling the electriccurrent supplied to the electromagnetic coil 80. Therefore, the torquetransmitted via the multiple disc clutch 7 can be adjusted. That is, themultiple disc clutch 7 is capable of changing the driving forcestransmitted toward the rear wheels 105R, 105L stepwise or continuously.

Further, when the energization of the electromagnetic coil 80 isstopped, the first cam member 82 moves away from the rear housing 61 dueto the spring force of the coned disc spring 85, and therefore ceases toreceive the rotation force that rotates the first cam member 82 relativeto the second cam member 84. As a result, the thrust in the axialdirection disappears, and the second cam member 84 moves in a directionaway from the multiple disc clutch 7 due to the spring force of theconed disc spring 86.

With the foregoing configuration, the driving force transmitted to theleft-side side gear 53L of the rear differential 150 is adjusted by thedriving force transmission apparatus 160 in a manner such thattransmission of the driving force can be interrupted, and then theadjusted driving force is transmitted to the left rear wheel 105L viathe shaft-shaped member 56 and the left-side drive shaft 115L. Further,the driving force transmitted to the right-side side gear 53R of therear differential 150 is transmitted to the right rear wheel 105R via ashaft-shaped member 55 that is connected to the right-side side gear 53Rso that the shaft-shaped member 55 is not rotatable relative to theright-side side gear 53R, and the right-side drive shaft 115Roscillatably connected to an outer ring 55 a of the constant velocityjoint provided at an end of the shaft-shaped member 55.

FIG. 3A is a sectional view showing a configuration example of the dogclutch 130 and portions near the dog clutch 130. FIG. 3B is anexplanatory diagram schematically showing meshing portions of the dogclutch 130 in a disengaged state.

The dog clutch 130 has the first tooth portion 31, the second toothportion 32, the tubular sleeve 33 and the actuator 30, as describedabove. The first tooth portion 31 is fixed to the differential case 20of the front differential 120 so that the first tooth portion 31 is notrotatable relative to the differential case 20. The second tooth portion32 is fixed to the ring gear 41 a so that the second tooth portion 32 isnot rotatable relative to the ring gear 41 a. The sleeve 33 is movableforward and backward in the direction of the rotation axis of thedifferential case 20. The actuator 30 moves the sleeve 33 forward andbackward. The actuator 30 is constituted by, for example, anelectromagnetic actuator in which a movable iron core is moved by amagnetic force generated by energization of a magnetization coil.

The first tooth portion 31 has an annular shape, and the drive shaft114R connected to the right front wheel 104R is inserted through aninner peripheral side of the first tooth portion 31. On an outerperipheral surface of the first tooth portion 31, a plurality of splineteeth 31 a is formed along the rotation axis O of the differential case20.

The second tooth portion 32 is formed in a tubular shape, and the driveshaft 114R is inserted through an inner peripheral side of the secondtooth portion 32. The second tooth portion 32 is rotatable coaxiallywith and relative to the first tooth portion 31. Further, on an outerperipheral surface of the second tooth portion 32, a plurality of splineteeth 32 a is formed along the rotation axis O of the differential case20.

The sleeve 33 is a tubular connecting member that is supported on anouter peripheral side of the first tooth portion 31 and the second toothportion 32 so as to be movable coaxially with the first and second toothportions 31, 32 and in the axial direction of the first and second toothportions 31, 32. On an inner peripheral surface of the sleeve 33, aplurality of spline teeth 33 a is formed. The spline teeth 33 a arecapable of meshing with the spline teeth 31 a of the first tooth portion31 and the spline teeth 32 a of the second tooth portion 32. Recessportions 33 c are formed in a manner such that each of the recessportions 33 c is located between adjacent spline teeth 33 a. The splineteeth 31 a, 32 a engage with the recess portions 33 c. The dog clutch130 transmits driving force due to engagement between the spline teeth31 a, 32 a and the recess portions 33 c.

Further, on the outer peripheral surface of the sleeve 33, an annularengagement recess 33 b that extends in the circumferential direction ofthe sleeve 33 is formed. One end portion of a movement member 34 thatmoves the sleeve 33 in the axial direction is engaged with theengagement recess 33 b so as to be slidable. The other end portion ofthe movement member 34 is fitted to a shaft 30 a of an actuator 30. Theactuator 30, according to a control signal from the ECU 9 (shown in FIG.1), moves the shaft 30 a forward and backward in the direction parallelto the rotation axis O of the differential case 20. Accordingly, themovement member 34 and the sleeve 33 move in the axial direction alongthe rotation axis O.

In the disengaged state of the dog clutch 130 in which the spline teeth33 a of the sleeve 33 mesh with the spline teeth 32 a of the secondtooth portion 32 and do not mesh with the spline teeth 31 a of the firsttooth portion 31, the first tooth portion 31 and the second toothportion 32 are rotatable relative to each other. Further, in theconnected state of the dog clutch 130 in which the spline teeth 33 a ofthe sleeve 33 mesh with both the spline teeth 31 a of the first toothportion 31 and the spline teeth 32 a of the second tooth portion 32, thefirst tooth portion 31 and the second tooth portion 32 are connected toeach other so that the first tooth portion 31 and the second toothportion 32 are not rotatable relative to each other.

When the four wheel drive vehicle 100 travels in a four wheel drivemode, the sleeve 33 of the dog clutch 130 meshes with both the firsttooth portion 31 and the second tooth portion 32 to connect thedifferential case 20 of the front differential 120 to the propellershaft 140, and the electromagnetic coil 80 is energized to cause thedriving force transmission apparatus 160 to transmit torque. Therefore,torque of the engine 102 is transmitted to the front wheels 104R, 104Land the rear wheels 105R, 105L.

On the other hand, when the four wheel drive vehicle 100 travels in atwo wheel drive mode, the energization of the electromagnetic coil 80 isstopped to interrupt the driving force transmission performed by thedriving force transmission apparatus 160, and the differential case 20and the propeller shaft 140, which have been connected with each otherby the dog clutch 130, are disconnected from each other. By interruptingthe driving force transmission performed by the driving forcetransmission apparatus 160, the drive shaft 115L for the left rear wheel105L is disconnected from the intermediate shaft 54, and accordingly,the driving force ceases to be transmitted to the right rear wheel 105R,either. This is based on a general feature of a differential apparatus,that is, a feature that if one of the two output shafts of thedifferential apparatus is idling, torque is not transmitted to the otheroutput shaft.

Thus, when the four wheel drive vehicle 100 travels in the two wheeldrive mode, the torque transmission performed by the first driving forcetransmission system 106 is interrupted at the upstream side of thepropeller shaft 140 (the engine 102-side thereof) and at the downstreamside of the propeller shaft 140 (the rear wheels 105R, 105L-sidethereof), and thus, the propeller shaft 140 and the differential case 50of the rear differential 150 connected to the propeller shaft 140 stoprotating relative to the vehicle body. This reduces the travelresistance of the vehicle caused by the rotational resistance of thepropeller shaft 140 and the resistance in the stirring of lubricatingoil by the ring gears 41 a, 42 a.

FIGS. 4A and 4B are examples of maps to which the control portion 92refers when the control portion 92, as the first computation unit 921,computes the transmission torque of the driving force transmissionapparatus 160. These maps are stored in the storage portion 91 of theECU 9. The first computation unit 921 refers to these maps to computethe driving force to be transmitted to the left rear wheel 105L by thedriving force transmission apparatus 160. Hereinafter, this drivingforce will be referred to as a command torque Tc.

FIG. 4A is an example of a graph showing a relation between a front-rearwheel rotation speed difference ΔV₀ and a first torque t₀₁ based on thefront-rear wheel rotation speed difference ΔV₀. The front-rear wheelrotation speed difference ΔV₀ is determined, for example, on the basisof a difference between an average of rotation speeds of the frontwheels 104R, 104L detected by the wheel speed sensors 902, 901 and anaverage of rotation speeds of the rear wheels 105R, 105L detected by thewheel speed sensors 904, 903.

In this embodiment, as shown in FIG. 4A, in a small rotation speeddifference region in which the front-rear wheel rotation speeddifference ΔV₀ is smaller than ΔV₀₁, the first torque t₀₁ gentlyincreases as the front-rear wheel rotation speed difference ΔV₀increases. In an intermediate rotation speed difference region in whichthe front-rear wheel rotation speed difference ΔV₀ is larger than orequal to V₀₁ and smaller than V₀₂, as the front-rear wheel rotationspeed difference ΔV₀ increases, the first torque t₀₁ increases moresharply than in the small rotation speed difference region. Further, ina large rotation speed difference region in which the front-rear wheelrotation speed difference ΔV₀ is larger than or equal to V₀₂, the firsttorque t₀₁ is a constant value.

Since the first torque t₀₁ is increased as the front-rear wheel rotationspeed difference ΔV₀ increases, for example, if the front wheels 104R,104L slip, it is possible to distribute an increased proportion of thedriving force of the engine 102 to the rear wheels 105R, 105L-side, andthus, it is possible to suppress the slip of the front wheels 104R,104L.

FIG. 4B is an example of a graph showing a relation between theaccelerator operation amount φ detected by the accelerator operationamount sensor 900 and a second torque t₀₂ based on the acceleratoroperation amount φ. In this embodiment, a vehicle speed S is taken intoaccount in addition to the accelerator operation amount φ, andtherefore, the graph shown in FIG. 4B shows a relation between thesecond torque t₀₂, and the accelerator operation amount φ and thevehicle speed S. The vehicle speed S can be determined, for example, onthe basis of the rotation speeds of the front wheels 104R, 104L detectedby the wheel speed sensors 902, 901, and the rotation speeds of the rearwheels 105R, 105L detected by the wheel speed sensors 904, 903.

As shown in FIG. 4B, in a small accelerator operation amount region inwhich the accelerator operation amount φ is smaller than φ1, the secondtorque t₀₂ increases relatively sharply as the accelerator operationamount φ increases. In an intermediate accelerator operation amountregion in which the accelerator operation amount φ is larger than orequal to φ1 and smaller than φ2, as the accelerator operation amount φincreases, the second torque t₀₂ increases more gently than in the smallaccelerator operation amount region. Further, in a large acceleratoroperation amount region in which the accelerator operation amount φ islarger than or equal to φ2, as the accelerator operation amount φincreases, the second torque t₀₂ increases even more gently than in theintermediate accelerator operation amount region. The second torque t₀₂is set so as to decrease as the vehicle speed S increases, as shown inFIG. 4B.

Since the second torque t₀₂ is increased as the accelerator operationamount φ increases, it is possible to more evenly distribute a largedriving force from the engine 102 to the front wheels 104R, 104L and therear wheels 105R, 105L during rapid acceleration, and thus, it ispossible to avoid slip of the front wheels 104R, 104L, which may occurwhen the driving force concentrates on the front wheels 104R, 104L-side.

The control portion 92 (first computation unit 921) computes a sum ofthe first torque t₀₁ and the second torque t₀₂ to determine the commandtorque Tc (Tc=t₀₁+t₀₂). Then, the control portion 92, as the controlunit 923, controls the drive circuit 93, and supplies a current inaccordance with the command torque Tc to the electromagnetic coil 80 ofthe driving force transmission apparatus 160.

In the four wheel drive vehicle 100 configured as described above, whenthe control unit 923 controls the driving force transmission apparatus160 according to the command torque Tc computed by the first computationunit 921, the driving force transmitted to the rear wheels 105R,105L-side varies between the case where the rotation speed of the leftrear wheel 105L is higher than the rotation speed of the right rearwheel 105R (e.g., when the vehicle turns right), and the case where therotation speed of the left rear wheel 105L is lower than the rotationspeed of the right rear wheel 105R (e.g., when the vehicle turns left),even if the current supplied to the electromagnetic coil 80 remains thesame.

FIG. 5 is a graph in which a horizontal axis represents the number ofrevolutions N (number of revolutions per unit time) of the pinion gears52 of the rear differential 150 and a vertical axis represents a drivingforce ratio TR (TR=T2/T1) that is the ratio of the driving forcetransmitted to the right rear wheel 105R (referred to as the drivingforce T2) to the driving force transmitted to the left rear wheel 105L(referred to as the driving force T1).

The number of revolutions N of the pinion gears 52 is a positive valuewhen the rotation speed of the left-side side gear 53L (hereinafter,referred to as a rotation speed V1) is higher than the rotation speed ofthe right-side side gear 53R (hereinafter, referred to as a rotationspeed V2). Accordingly, the number of revolutions N of the pinion gears52 is a negative value when the rotation speed V1 of the left-side sidegear 53L is lower than the rotation speed V2 of the right-side side gear53R. The number of revolutions N of the pinion gears 52 is proportionalto a difference in the number of revolutions between the right-side sidegear 53R and the left-side side gear 53L.

When the number of revolutions N of the pinion gears 52 is zero, thatis, when the difference in the number of revolutions between theright-side side gear 53R and the left-side side gear 53L is zero, thedriving force T1 transmitted to the left rear wheel 105L and the drivingforce T2 transmitted to the right rear wheel 105R are substantiallyequal (TR=1). However, when the number of revolutions N of the piniongears 52 is a positive value (when the rotation speed V1 of theleft-side side gear 53L is higher than the rotation speed V2 of theright-side side gear 53R), the driving force T1 transmitted to the leftrear wheel 105L is smaller than the driving force T2 transmitted to theright rear wheel 105R (T1<T2, TR>1). When the number of revolutions N ofthe pinion gears 52 is a negative value (when the rotation speed V1 ofthe left-side side gear 53L is lower than the rotation speed V2 of theright-side side gear 53R), the driving force T1 transmitted to the leftrear wheel 105L is larger than the driving force T2 transmitted to theright rear wheel 105R (T1>T2, TR<1).

Further, the driving force ratio TR gradually increases as the number ofrevolutions N of the pinion gears 52 increases in the range of thenumber of revolutions N of the pinion gears 52 from zero to a firstpredetermined value N₁. In the range in which the number of revolutionsN of the pinion gears 52 is larger than the first predetermined valueN₁, the driving force ratio TR is a substantially constant value(TR=Ta). Further, the driving force ratio TR gradually decreases as theabsolute value of the number of revolutions N of the pinion gears 52increases when the number of revolutions N of the pinion gears 52 isnegative and the absolute value of the number of revolutions N is in therange from zero to the absolute value of a second predetermined value N₂(N₂<0). In the range in which the absolute value of the number ofrevolutions N of the pinion gears 52 is larger than the absolute valueof the second predetermined value N₂, the driving force ratio TR is asubstantially constant value (TR=Tb).

The values at which the driving force ratio TR becomes constant due tothe increase in the absolute value of the number of revolutions N of thepinion gears 52 (i.e., Ta and Tb in the graph in FIG. 5) are values thatcorrespond to the Torque Bias Ratio (TBR) of the rear differential 150.For example, when the TBR of the rear differential 150 is 1.2, Ta=1.2and Tb=1/1.2. The TBR herein refers to a ratio obtained by dividing atorque transmittable to one of a pair of wheels connected to adifferential apparatus, by a torque transmittable to the other wheel,the friction force of the one wheel against a road surface being largerthan the friction force of the other wheel against the road surface.

This TBR is, for example, larger than or equal to 2 in the case of adifferential apparatus having a configuration that reduces differentialrotation (e.g., a differential apparatus equipped with a limited-slipdifferential function of restricting the differential motion byfrictional sliding between tip surfaces of pinion gears disposed inparallel with a drive shaft and an internal surface of a retainer forthe pinion gears), and is a value approximately in the range of 1.1 to1.3 in the case of a differential apparatus in which pinion gears meshwith a pair of side gears constituted by bevel gears and the gear axesof the pinion gears are orthogonal to those of the side gears, as in theembodiment (a so-called open differential). In the rear differential 150according to the embodiment, the TBR is larger than 1, because thefriction force or the like between an internal surface of thedifferential case 50 and gear back faces of the side gears 53R, 53L andthe pinion gears 52, 52 that are pressed against the internal surface ofthe differential case 50 by the mesh reaction force of the side gears53R, 53L and the pinion gears 52, 52 acts so as to reduce differentialrotation between the right-side side gear 53R and the right-side sidegear 53L.

For example, if the transmission torque transmitted by the driving forcetransmission apparatus 160 is 200 Nm, a torque (driving force) of 200 Nmis transmitted to the left rear wheel 105L regardless of the turningdirection of the four wheel drive vehicle 100. However, when therotation speed V1 of the left-side side gear 53L is higher than therotation speed V2 of the right-side side gear 53R (e.g., when thevehicle turns right), a torque of 240 Nm (200×1.2 Nm) obtained bymultiplying 200 Nm by the TBR (1.2) is transmitted to the right rearwheel 105R. As a result, the total of the driving forces transmitted tothe rear wheels 105R, 105L-side is 440 Nm (200+240 Nm).

On the other hand, when the rotation speed V1 of the left-side side gear53L is lower than the rotation speed V2 of the right-side side gear 53R(e.g., when the vehicle turns left), a torque of 167 Nm (200/1.2 Nm)obtained by multiplying 200 Nm by a reciprocal of the TBR (1.2) istransmitted to the right rear wheel 105R. As a result, the total of thedriving forces transmitted to the rear wheels 105R, 105L-side is 367 Nm(200+167 Nm). Consequently, when the vehicle turns right or left, atorque in accordance with the command torque Tc, which is computed bythe control portion 92 as the first computation unit 921 on the basis ofthe traveling state of the vehicle, is not transmitted to the rearwheels 105R, 105L-side.

In this embodiment, the second computation unit 922 corrects the commandtorque Tc computed by the first computation unit 921, on the basis ofthe number of revolutions of the pinion gears 52, so as to increase theaccuracy of the torque transmitted to the rear wheels 105R, 105L-side.More specifically, when the condition of the rotation speed V1 of theleft-side side gear 53L>the rotation speed V2 of the right-side sidegear 53R is satisfied and the number of revolutions of the pinion gears52 is larger than or equal to a predetermined value (i.e., when thedifference between the rotation speed V1 of the left-side side gear 53Land the rotation speed V2 of the right-side side gear 53R is larger thanor equal to the predetermined value), the second computation unit 922performs a correction so as to reduce the command torque Tc computed bythe first computation unit 921. When the condition of the rotation speedV1 of the left-side side gear 53L<the rotation speed V2 of theright-side side gear 53R is satisfied and the absolute value of thenumber of revolutions of the pinion gears 52 is larger than or equal tothe absolute value of a predetermined value (e.g., when the differencebetween the rotation speed V1 of the left-side side gear 53L and therotation speed V2 of the right-side side gear 53R is larger than orequal to the predetermined value), the second computation unit 922performs the correction so as to increase the command torque Tc computedby the first computation unit 921. Next, an example of a processexecuted by the control portion 92 will be further specificallydescribed, the process including a process executed by the secondcomputation unit 922.

FIG. 6 is a flowchart showing an example of the process executed by thecontrol portion 92 functioning as the first computation unit 921, thesecond computation unit 922 and the control unit 923. The controlportion 92 repeatedly executes the process shown by this flowchart atevery predetermined control cycle (e.g., 100 ms).

The control portion 92 computes the command torque Tc according to thetraveling state of the four wheel drive vehicle 100 (step S10). Thisprocess is a process executed by the control portion 92 functioning asthe first computation unit 921. As the traveling state of the four wheeldrive vehicle 100, the front-rear wheel rotation speed difference ΔV₀,the accelerator operation amount φ, the vehicle speed S, and the likemay be used.

Next, the control portion 92 computes the number of revolutions N of thepinion gears 52 (step S11). The number of revolutions N of the piniongears 52 can be computed on the basis of the rotation speed of thepropeller shaft 140 and the rotation speed of the right rear wheel 105R,and the gear ratio between the ring gear 42 a and the pinion gear 42 bin the second gear mechanism 42. The rotation speed of the propellershaft 140 can be computed on the basis of the rotation speeds of thefront wheels 104R, 104L and the gear ratio between the ring gear 41 aand the pinion gear 41 b in the first gear mechanism 41. The number ofrevolutions N of the pinion gears 52 can be determined by a computingexpression of (Nring−Nrr)×2 where Nring is the number of revolutions ofthe ring gear 42 a per unit time and Nrr is the number of revolutions ofthe right rear wheel 105R per unit time.

Next, the control portion 92 determines whether the number ofrevolutions N of the pinion gears 52 is larger than or equal to thefirst predetermined value N₁ (step S12). This first predetermined valueN₁ is a value of the number of revolutions N of the pinion gears 52,which corresponds to an inflection point (a point at which a gradientchanges) located at the right side in the graph in FIG. 5.

If the condition of the number of revolutions N of the pinion gears 52the first predetermined value N₁ is satisfied (YES in S12), the controlportion 92 corrects the command torque Tc computed in step S10 bymultiplying the command torque Tc by a correction factor k₁. Thiscorrection factor k₁ is smaller than 1, and it is preferable to satisfythe condition of k₁=1/((TBR−1)/2+1). In this embodiment, if TBR=1.2, thecorrection factor k₁=0.91.

On the other hand, if in step S12 the condition of the number ofrevolutions N of the pinion gears 52≧the first predetermined value N₁ isnot satisfied (NO in S12), the control portion 92 determines whether thenumber of revolutions N of the pinion gears 52 is a negative value andthe absolute value of the number of revolutions N of the pinion gears 52is larger than or equal to the absolute value of the secondpredetermined value N₂ (step S14). This second predetermined value N₂ isa value of the number of revolutions N of the pinion gears 52, whichcorresponds to an inflection point at the left side in the graph shownin FIG. 5.

If the number of revolutions N of the pinion gears 52 is smaller than 0(N<0) and the absolute value of the number of revolutions N of thepinion gears 52 is larger than or equal to the absolute value of thesecond predetermined value N₂ (YES in S14), the control portion 92corrects the command torque Tc computed in step S10 by multiplying thecommand torque Tc by a correction factor k₂. This correction factor k₂is larger than 1, and it is preferable to satisfy the condition ofk₂=1/((1/TBR+1)/2). In this embodiment, if TBR=1.2, the correctionfactor k₂=1.09. On the other hand, if the condition N<0 and |N|≧|N₂| isnot satisfied (NO in S14), the control portion 92 does not correct thecommand torque Tc computed in step S10.

The process of steps S11 to S15 is a process executed by the controlportion 92 functioning as the second computation unit 922.

The control portion 92 outputs a control signal to the drive circuit 93according to the command torque Tc corrected in step S13 or step S15 orthe command torque Tc that is not corrected because the result of thedetermination in step S14 is NO. Thus, the drive circuit 93 supplies acurrent in accordance with the command torque Tc to the electromagneticcoil 80 of the driving force transmission apparatus 160, and thepressing mechanism 8 of the driving force transmission apparatus 160presses the multiple disc clutch 7 by a pressing force in accordancewith the supplied current. Therefore, a driving force in accordance withthe command torque Tc in step S16 is transmitted to the left rear wheel105L via the driving force transmission apparatus 160.

For example, if the command torque Tc computed in step S10 is 200 Nm andthe result of the determination in step S12 is YES, the command torqueTc is corrected in the process of step S13, and therefore, a torque of200×k₁=182 Nm is transmitted to the left rear wheel 105L and a torque of182×1.2=218.4 Nm is transmitted to the right rear wheel 105R. Thus, thetotal of the driving forces transmitted to the rear wheels 105R,105L-side is 400.4 Nm.

Further, if the command torque Tc computed in step S10 is 200 Nm and theresult of the determination in step S14 is YES, the command torque Tc iscorrected in the process of step S15, and therefore, a torque of200×k₂=218 Nm is transmitted to the left rear wheel 105L and a torque of218/1.2=181.7 Nm is transmitted to the right rear wheel 105R. Thus, thetotal of the driving forces transmitted to the rear wheels 105R,105L-side is 399.7 Nm.

Thus, by performing the process of correcting the command torque Tc instep S12 to S15, the driving force in accordance with the command torqueTc computed on the basis of the traveling state of the four wheel drivevehicle 100 (the command torque Tc computed in step S10) is accuratelytransmitted to the rear wheels 105R, 105L-side.

According to the foregoing embodiment, the accuracy of the driving forcetransmitted to the rear wheels 105R, 105L-side can be increased.

While the invention has been described with reference to the foregoingembodiment, the invention is not limited to this embodiment, and can beimplemented in various manners without departing from the scope of theinvention.

For example, in the foregoing embodiment, the pressing mechanism 8 thatpresses the multiple disc clutch 7 is constituted by the cam mechanismthat is operated by the magnetic force from the electromagnetic coil 80.However, this is not restrictive. For example, the pressing mechanism 8may be configured so that the cam mechanism is operated by a torque ofan electric motor. Furthermore, the pressing mechanism 8 may beconstituted by a piston that is operated by a hydraulic pressure.

Further, in the foregoing embodiment, the driving force transmissionapparatus 160 is provided between the rear differential 150 and the leftrear wheel 105L. However, the driving force transmission apparatus 160may be provided between the rear differential 150 and the right rearwheel 105R.

Further, in the foregoing embodiment, the rear differential 150 is theopen differential that does not have a limited-slip differentialfunction. However, this is not restrictive, and the rear differential150 may have a limited-slip differential function.

Further, in the foregoing embodiment, the front wheels 104R, 104L aremain driving wheels, and the rear wheels 105R, 105L are auxiliarydriving wheels. However, this is not restrictive, but the front wheels104R, 104L may be auxiliary driving wheels and the rear wheels 105R,105L may be main driving wheels.

Further, in the foregoing embodiment, the front-rear wheel rotationspeed difference ΔV₀, the accelerator operation amount φ and the vehiclespeed S are used as indexes that show the traveling state of the fourwheel drive vehicle 100. However, this is not restrictive. For example,the steering angle of the front wheels 104R, 104L, the output of theengine 102, the change gear ratio of the transmission, or the like maybe used as an index that shows the traveling state of the four wheeldrive vehicle 100.

Further, in the foregoing embodiment, the transmission of driving forceto the propeller shaft 140 can be interrupted by the dog clutch 130.However, the dog clutch 130 may be omitted. Specifically, the four wheeldrive vehicle 100 may be configured so that the driving force of theengine 102 is always transmitted to the propeller shaft 140.

Further, in the foregoing embodiment, the rotation direction of thepinion gears 52 (the direction of the differential rotation between theright-side side gear 53R and the left-side side gear 53L) and the numberof revolutions of the pinion gears 52 are computed on the basis of thenumber of revolutions Nring of the ring gear 42 a and the number ofrevolutions Nrr of the right rear wheel 105R. However, the rotationdirection and the number of revolutions of the pinion gears 52 may becomputed on the basis of the rotation speeds of the right and left frontwheels 104R, 104L and the rotation speed of the right rear wheel 105R.Further, a sensor capable of detecting the rotation speed of theintermediate shaft 54 or the outer housing 60 of the driving forcetransmission apparatus 160 may be provided, and the rotation directionand the number of revolutions of the pinion gears 52 may be computed onthe basis of a detected value from this sensor and the rotation speed ofthe right rear wheel 105R.

According to the invention, in the four wheel drive vehicle in which thedriving force transmission apparatus capable of adjusting thetransmission torque is disposed between the differential apparatus andone of the right and left auxiliary driving wheels, the accuracy of thedriving force transmitted to the auxiliary driving wheel side can beincreased.

What is claimed is:
 1. A control apparatus for a four wheel drivevehicle, the control apparatus being provided in a four wheel drivevehicle including a pair of right and left main driving wheels and apair of right and left auxiliary driving wheels, the control apparatuscontrolling a transmission torque of a driving force transmissionapparatus provided between one of a pair of output members of adifferential apparatus at an auxiliary driving wheel side and one of theright and left auxiliary driving wheels, and the control apparatuscomprising: a first computation unit that computes a transmission torqueto be transmitted to the one of the auxiliary driving wheels by thedriving force transmission apparatus, based on a traveling state of thefour wheel drive vehicle; and a second computation unit that correctsthe transmission torque computed by the first computation unit, if adifference between rotation speeds of the output members of thedifferential apparatus is larger than or equal to a predetermined value,wherein the second computation unit performs a correction so as toreduce the transmission torque computed by the first computation unit,if a condition of V1>V2 is satisfied where V1 is the rotation speed ofthe one of the output members of the differential apparatus and V2 isthe rotation speed of the other of the output members, and the secondcomputation unit performs the correction so as to increase thetransmission torque computed by the first computation unit, if acondition of V1<V2 is satisfied, and wherein the differential apparatusincludes a pair of side gears as the output members and pinion gearsthat mesh with the side gears, respectively, and the second computationunit performs the correction if an absolute value of the number ofrevolutions of the pinion gears is larger than or equal to an absolutevalue of a predetermined value.